cmake_minimum_required(VERSION 3.5)
project(pcd_pgm)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(PCL REQUIRED)
find_package(pcl_conversions REQUIRED)

find_package(nav_msgs REQUIRED)




set(dependencies
  pcl_conversions
  rclcpp
  sensor_msgs
  geometry_msgs
  std_msgs
  nav_msgs
  #tf2_geometry_msgs
  #tf2_ros
  #EIGEN3
  #PCL
)
include_directories(${PROJECT_NAME}/include
    include
    ${PCL_INCLUDE_DIRS}
)

add_executable(pcd_pgm_node src/pcd_pgm.cpp)
ament_target_dependencies(pcd_pgm_node rclcpp sensor_msgs nav_msgs std_msgs pcl pcl_ros)
target_link_libraries(pcd_pgm_node ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})

install(TARGETS
  pcd_pgm_node
  DESTINATION lib/${PROJECT_NAME}
)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # uncomment the line when a copyright and license is not present in all source files
  #set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # uncomment the line when this package is not in a git repo
  #set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()
